Author

Stéphane Doncieux

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Preprint Sep 2026

A Sim-to-Real Integration Pipeline for Training and Deployment of Chunk-Based VLA Manipulation Policies

Vision-Language-Action (VLA) models have become a prominent paradigm for mapping multimodal inputs, including semantic instructions, visual observations of the scene, and proprioceptive observations, to robot actions. Most state-of-the-art models predict actions in the end-effector pose space as sequences of action chu...

Mathilde Kappel, Clémence Grislain, Mohamed Chetouani et al. · 0 citations

Preprint Aug 2026

Autonomously Acquiring Robot Manipulation Skills with Language-Driven Quality-Diversity

Quality-diversity (QD) algorithms have been gaining traction in robot learning, where diverse motion primitive libraries allow robots to adapt zero-shot to constraints at deployment time. However, such methods typically require expert designers to write the success condition, fitness and diversity metrics, and this str...

Émiland Garrabé, Mahdi Khoramshahi, Stéphane Doncieux · 0 citations